Motion device



g ly 5, 1966 J. M. MITCHYELL 3,259,254

MOTION DEVICE Filed April 16, 1964 5 Sheets-Sheet l INVENTOR. JAN/Es MM/TCHELL July 5, 1966 J, M. MITCHELL MOTION DEVICE 5 Sheets-Sheet 2Filed April 16, 1964 ww m A W 3L. EET

A TTORNE r July 5, 1966 J. M. MITCHELL MOTION DEVICE 5 Sheets-Sheet 5Filed April 16. 1964 INVENTOR. (TA/146's M M/ TC'HLL PRES 5 (/RE SUPPZ YA 7' TORNE r United States Patent 3,259,254 MOTION DEVICE James M.Mitchell, 2900 Ellesmere Ave., Costa Mesa, Calif. Filed Apr. 16, 1964,Ser. No. 360,193 18 Claims. (Cl. 214-1) The present invention relatesgenerally to motion devices, and more particularly to mechanisms andapparatuses for automatically performing certain work functions.

Scientific and technological advances have been so profound within thepast several decades, that automation is a sought-after ingredient invirtually every phase of mans existence. This is, of course,particularly true in the United States where virtually all of thetechnological fields, such as manufacturing, communications,transportation andthe like, have been developed to .an extremely highstandard. As a result, the importance of automatic work performingequipment of virtually any type and description has become extremelyacute. That is, due to the fact that the economy of the United States isoriented toward the production of large quantities of goods within ashort period of time, automatic equipment of virtually any kind findsimmediate acceptance in the United States market place.

The economy of the United States, in fact, depends to a large measure onthe ability to mass produce articles so as to reach a large number ofconsumers. These economic factors, of course, have resulted in thestandard of living within the United States being considerably higherthan that of virtually any other country in the world.

The many remarkable advances heretofore but recently made in the fieldof electronics has resulted in many different types of automatic workperforming equipment. However, such electronic equipment is extremelyexpensive to manufacture and maintain due to the highly sophisticatednature of such equipment, and due to the fact that the average laymandoes not have suflicient knowledge and skill to perform the necessaryrepairs.

Such equipment utilizes many of the techniques now employed inelectronic computers, such as magnetic information storage devices, suchas magnetic tapes, magnetic drums and the like, and highly selectivetransducers for sensing different amounts of magnetic impulses. Theseand many other factors have contributed to the extremely high cost andto the extremely complicated nature of prior automatic work performingequipment.

Virtually any and every technological segment of our present day lifehas need for an uncomplicated and inexpensive mechanism for performingpredetermined work functions. Prior to the present invention it wasthought that such equipment should be primarily mechanical in nature soas to be capable of being repaired or modified by the great majority ofworkmen who presently make up our national Work force. That is, whereasprior automatic work performing equipment has required persons who arehighly educated and possessed of exceptional skills merely to repairsuch equipment, it has been realized that it would be extremelyadvantageous to have such automatic equipment which utilizes merely theaverage predominant skills for effecting repairs.

To this end, it is an object of the present invention to provide workperforming equipment which is primarily mechanical in nature and henceutilizes merely average technological skills for purposes of repair.

Another object of the present invention is to provide work performingequipment as characterized above which can perform any desired,predetermined function.

A further object of the present invention is to provide work performingequipment as characterized above which 3,259,254 Patented July 5, 1966ice utilizes mechanical recording means and electrical or hydraulicactuating devices, all of which are well understood by todays averagetechnicians.

Another object of the present invention is to provide automatic workperforming equipment which is capable of performing predetermined Workmotions relative to a given moving object.

Another object of the present invention is to provide work performingequipment as characterized above which is capable of following suchobject regardless of the path of movement thereof, and without the needto know such path of movement in advance.

A further object of the present invention is to provide automatic workperforming equipment as characterized above which utilizes mechanicalrecord discs having preformed grooves therein which constitute thepre-recorded intelligence for defining the desired motion.

Another object of the present invention is to provide automatic workperforming equipment as characterized above which is extremely accurateand sensitive in performing the prescribed motions as set forth on therecordings.

A still further object of the present invention is to provide automaticwork performing equipment as characterized above wherein any one ofseveral different types of mechanisms may be utilized for transposingthe prerecorded motion intelligence into actual physical motion.

Another further object of the present invention is to provide automaticwork performing equipment as characterized above which utilizes apantographic work performing element.

Another object of the present invention is to provide automatic workperforming equipment as characterized above which can be quickly andcompletely repaired by maintenance technicians who are possessed ofrelatively ordinary and predominant skills and abilities.

An even further object of the present invention is to provide automaticwork performing equipment as characterized above which is simple andinexpensive to manufacture, and which is rugged and dependable inoperation. The novel features which I consider characteristic of myinvention are set forth with particularity in the ap- FIGURE 1;

FIGURE 3 is a fragmentary sectional view taken substantially along line33 of FIGURE 1;

FIGURE 4 is a fragmentary sectional view taken substantially along line4-4 of FIGURE 3;

FIGURE 5 is a fragmentary sectional view through one of the servomechanisms used in the present invention, such view being substantiallyalong line 55 of FIGURE 1;

FIGURE 6 is a fragmentary sectional view similar to FIGURE 5, butshowing the certain parts thereof in diiferent operating position;

FIGURE 7 is a bottom plan view of the movable platform of the embodimentof FIGURE 1;

FIGURE 8 is a perspective View of a second embodiment of the presentinvention;

FIGURE 9 is a fragmentary sectional view of a poron of the sensing meansof the embodiment of FIGURE be used in the sensing means of FIGURE 9;and

FIGURE 11 is a diagrammatic showing of a fluid pressure system for usein the second embodiment of FIGURE 8.

Like reference characters indicate corresponding parts throughout theseveral views of the drawings.

Referring to FIGURE 1 of the drawings, there is shown therein a motionor work performing mechanism which comprises work performing means 22and control means 24 therefor.

Control means 24 may take any one of a variety of different forms, aswill hereinafter become apparent from a complete understanding of thepresent invention.

The first embodiment of FIGURE 1 comprises an enclosure 26 whichincludes a base member 28 and a cover member 30. Within such enclosure26 there is provided the control means for operating the work performingmeans 22. Such control means comprises a movable platform or table 32which, as will hereinafter be explained, is afforded motion in at leasttwo directions with respect to base member 28.

To provide such motion for platform 32, there is provided, as shown mostclearly in FIGURE 7, guide members or rods which enable the platform tomove in opposite directions along two axes at right angles to each otherwithin a given plane parallel to base 28. Four stanchions or posts 34are secured to base 28 at or near the marginal edges thereof. Suchstanchions are formed with suitable openings for receiving guide members36 which extend along the front and the rear of the control unit 26, andguide members 38 which extend along the opposite sides thereof. As shownmost clearly in FIGURE 1 of the drawings, to accommmodate various of thecomponents to be hereinafter described, the guide members 36 aredisposed at a higher elevation than the guide members 38.

Secured to the underside of platform 32 at or near the marginal edges orcorners thereof are bearing members 40. Such bearing members are formedwith through openings for slidably receiving guide rods 42, one of whichextends through both of the bearing members 40 at the rear of platform32, while the other guide rod 42 extends through both of the bearingmembers 40 at the forward edge of such platform.

The guide rods 42 are movably secured to the side guide members 38, theopposite ends of each such rod being connected relative to a separateone of such guide members by suitable bearing means 44. Thus, platform32 by virtue of the bearing members 40 and guide rods 42 is permitted tomove along such guide rods in opposite directions parallel with guidemembers 36. That is, such arrangement enables platform 32 to movesideways in opposite directions within the enclosure 26.

The bearing members 44 which connect the opposite ends of guide rods 42to the members 38 are each formed with a through opening for slidablyreceiving such guide members. As such, the platform 32 is permitted tomove parallel to the guide members 38 or in opposite directions fromfront to back with respect to the enclosure 26.

To move such platform 32 in the various directions, there is provided aservo mechanism for each such axis along which motion in oppositedirections is to be atforded. That is, since the guide members 36 and 38are disposed, as shown in FIGURE 7, to form a square or rectangle, themotion of platform 32 as afforded by the aforedescribed mounting andguide means is along two axes at right angles to each other.

Such servo mechanisms may take substantially any desired form, many ofsuch mechanisms being well known in the art today. For illustration ofone form of hydraulic servo mechanism for use in controlling themovement of platform 32, reference will now be made to FIGURES 5, 6 and7 of the drawings.

As shown in FIGURE 7, a hydraulic servo mechanism 45 for moving theplatform from side to side within enclosure 26 may comprise a hydrauliccylinder 46 secured to the undersurface of platform 32. An actuating orpiston rod 48 extends through such cylinder and is connected to amovable piston within the latter. The opposite ends of piston rod 48carry suitable bearing members as shown at 50 and 52 which slidablyreceive the guide members 38 so as to permit platform 32 to move in theforward and rearward directions within the enclosure 26.

In like manner, another hydraulic servo mechanism 55 is provided formoving the platform 32 in such forward and rearward directions. Suchmechanism comprises a hydraulic cylinder 54 which is secured relative toplatform 32, but which is disposed beneath hydraulic cylinder 46 or at alower elevation with respect thereto as shown in FIGURES 5, 6 and 7. Asuitable actuating or piston rod 56 extends through cylinder 54 andcarries a piston which is slidable within the latter. The opposite endsof piston rod 56 carry bearing members 58 and 60 for permitting platform32 to have sidewise motion relative to base 28.

Referring to FIGURES 5 and 6, it is seen that the hydraulic cylinder 46is provided with closed opposite ends as shown at 46a and 46b, each ofwhich is formed with a through opening for receiving the piston rod 48.As will be readily apparent to those persons skilled in the art, suchopenings may be provided with suitable packing or other fluid sealingmeans for preventing the hydraulic fluid (liquid or air) from escapingfrom cylinder 46. The piston carried by piston rod 48 is shown at 62 andis movable with respect to cylinder 46.

The piston 62 divides cylinder 46 into a pair of pressure or actuatingchambers 46c and 46d. When the pressure within chamber 46c is increasedand the pressure within chamber 464 decreased, the increased pressureagainst end wall 46a of cylinder 46 causes such cylinder to move to theleft as viewed in FIGURE 5. In like manner, when the pressure withinchamber 46d is highest, the fluid pressure against end wall 46b becausecylinder 46 and the platform 32 attached thereto to be moved to theright as viewed in this figure. It is thus seen that the piston 62 andpiston rod 48 remain stationary while the cylinder 46 and the variouscomponents carried thereby are caused to move in a sidewise direction inaccordance with variations in fluid pressure.

Servo mechanism 55 for moving the platform 32 in the forward andrearward directions operates in the same manner as above described withrespect to servo mechanism 45.

Mounted on platform 32 for movement therewith is record means 64 whichmay take substantially any desired form as will hereinafter becomeapparent. The means chosen for the first embodiment for illustration ofthe present invention comprises a turntable 66 which is secured to apivot pin or spindle 68, the latter of which extends through theplatform 32. Such pivot pin, of course, is freely rotatable relative toplatform 32 by motive power means such as electric motor 70 which issecured to the underside of platform 32. Energization of motor 70through lead wires 72 effects rotation of spindle 68 and hence rotationof turntable 66.

Positioned on turntable 66 is a record 74 which carried pre-recordedintelligence in the form of mechanical grooves 77, 78 and 79, as shownin FIGURE 1. It is intended to be within the scope of the presentinvention as defined by the appended claims, that three separateturntables and record discs may be mounted on spindle 68 (if desired)with each such record disc carrying a separate one of the grooves 77, 78and 79. Also, it is appreciated that the form of the record or recordingwould not have to be a rotatable disc having grooves, but rather itcould take the form of other record means wherein the intelligencecarried thereby is in the form of a cam surface such that predeterminedmotion of the record effects mechanical movement of a cam follower orstylus as will hereinafter be described.

To effect movement of platform 32 in accordance with pro-recordedintelligence on record disc 74, additional means is required toassociate each cylinder 46 and 54 with the record 74 such that theabove-mentioned servo mechanisms 45 and 55 are provided. Thus, tocomplete the servo mechanism or system 45, a stylus or cam followerelement 80 and suitable hydraulic valve means 82 for operation therebyare provided. Such hydraulic valve means comprises a valve housing 84having a fluid pressure inlet port 86 and a pair of exhaust ports 88 and90. Also associated with valve body 84 is a length of flexible tubing 92which affords connection between an opening 84a in valve body 84 and thefluid pressure chamber 46d of cylinder 46. In like manner, anotherflexible tube 94 is provided between another opening 84b formed in valvebody 84 and the fluid pressure chamber 460 of cylinder 46.

Mounted on stylus 80 for operation thereby is a pair of valve members 96and 98 which cooperate, as will hereinafter be described, with theexhaust ports 88 and 90 and with inlet port 86 to provide certain fluid.paths to and from the openings 84a and 84b in valve body 84. As shownmost clearly in FIGURES 5 and 6, valve mechanism 82 is carried by or maybe formed integrally with bearing member 52 which slides on guide member38 so as to be movable with the cylinder 46 as platform 32 is movedforward or rearward relative to base member 28.

Thus the servo mechanism 45 for moving platform 32 and all of thecomponents mounted thereon in a sidewise direction comprises thehydraulic cylinder 46, the record means 64 carried by such cylinder, thestylus 80 and the valve means 82, as Well as the various components suchas tubing 92 and 94, and the piston rod 48. As will hereinafter beexplained, such servo mechanism causes platform 32 to be moved apredetermined distance in accordance with the pre-recorded intelligenceon record disc 74.

In like manner, there is provided on hearing member 60, valve means 100which is controlled by a stylus 102 for completing servo mechanism 55which includes hydraulic cylinder 54. That is, such stylus 102 and valvemeans 100 are substantially identical in construction to stylus 80 andvalve means 82, and cooperate to control the movement of platform 32 inthe rearward and forward directions as will hereinafter be explained.

The work performing means 22, shown in FIGURE 1 of the drawings, is apantographic element having a work performing member 104 and a controlmember 106 joined together by a pair of intermediate members 108 and110. Such intermediate members are substantially identical in size andshape, and are arranged in spaced parallel relation to provide thedesired pantographic arrangement. Pivot pins 112 are employed as shownto complete the desired pantographic arrangement and to permit pivotalmovement between the various members of work performing means 22 as willhereinafter become apparent.-

A pivotal support member 114 is provided to establish a reference pointfor operation of the pantographic means 22. Such mounting member isformed with a cylindrical lower end portion 114a which slidably engagesa suitable opening formed in base 28. Thus, the mounting member 114 isafforded about a vertical axis. The pantographic means 22 is insertedwithin a slot 11% formed in mounting member 114 and a pivot pin 116 isinserted in suitable openings to pivotally secure the lower intermediatemember 110 of the pantographic means to such mounting member.

A hydraulic actuator 117 comprising a cylinder 118 having a movablepiston therein and a piston rod 120 connected with the latter is rigidlysecured to platform 32. The piston rod 120 is firmly secured to thepiston within the cylinder 118. Such hydraulic actuator operates in ausual manner, namely by the application of fluid pressure to one side orthe other of the piston in order to effect movement of piston rod 120.Control member 106 of pantographic means 22 is pivotally secured to rodto be movable therewith along any one or all of the three axes at rightangles to each other. That is, such control member is movable with rod120 as effected by the servo mechanisms 45 and 55 within the horizontalplane or by the hydraulic cylinder along the vertical axis.

As shown most clearly in FIGURES 3 and 4, the upper end portion ofpiston rod 120 is provided with an adaptor 122 which carries a flat gearmember or rack 124. The adaptor is adjustably secured to the top ofpiston rod 120 by a set screw 126 which is threaded within a suitableopening in adaptor 122 for engagement with an annular groove in thepiston rod. The rack 124 may be secured to adaptor 122 as by welding,brazing, soldering, or the like, and is formed with a series of gearteeth 124a.

As shown most clearly in FIGURE 2 of the drawings, rack 124 cooperateswith a circular gear member 126 mounted on a drive shaft 128. Alsomounted on such shaft is a gear member 130 which drives an endless chain132. As shown most clearly in FIGURE 1 of the drawings, drive shaft 128may be rotatably supported by suitable bracket means 134 mountedrelative to movable platform 32.

The endless chain 132 cooperates with a gear member 136 which is rigidlysecured to a drive shaft 138. Such shaft also carries another gearmember which, in turn, drives an endless chain 140. This chain isdrivingly connected to a gear member 142 which, by means of a driveshaft 144, is fixed relative to another gear member 146. The gear member146 drives a gear rack 148 having gear teeth 148a.

As shown most clearly in FIGURE 1 of the drawings, the gear rack 148 isassociated with a valve device 150 which is actuated by a stylus 152 incooperation with the groove 78 of record 74.

. As will hereinafter become readily apparent, stylus 152 and valvemechanism 150 are similar in many respects to the styluses and valvemechanisms for controlling the aforedescribed servo mechanisms'45 and55. However, the embodiment shown in FIGURE 1 utilizes a substantiallycoplanar record medium, namely record disc 74, and hence the platform 32is movable oppositely only in two directions within a given plane. Thus,in order to provide the third or vertical coordinate direction ofmovement for the work performing means, it is necessary for the sensingelement, here the stylus 152, to be actuatable in a direction 90 degreesto the direction of movement of the hydraulic cylinder 118. As a result,the feedback of the servo mechanism for effecting the vertical movementof the work performing means must be provided by additional mechanicalmeans which is capable of transposing the vertical movement of pistonrod 120 into a horizontal movement of the valve housing of valve means150,

It is realized, however, that a three dimensional record medium could beprovided whereby all three of the servo systems would be directlyconnected back to the record medium, thereby eliminating the need forelaborate mechanical feedback means. Such further modifications arecontemplated within the scope of this invention.

The embodiment of the present invention shown in FIGURE 1 of thedrawings, operates generally as follows:

The record 74, of course, is to be pre-formed, the grooves 77, 78 and 79thereon being pre-recorded in accordance with the particular motiondesired for the work performing member 104 of the pantographic workperforming means 22. In this regard, the subject work or motionperforming device can be used to cut or form such records if desired. Bymanually moving the work performing member 104 through all of thedesired work performing physical movements, the various styluses 80, 102and 152 can be caused to follow the proper paths on record 74 while thelatter is rotating, which paths then become the paths for the grooves77, 78 and 79 to cause the member 104 to repeat such motions.

The record 74, of course, is placed on turntable 66 and the motor 70 iscaused to be energized so as to rotate such record.

As the grooves 77, 78 and 79 vary in their distances from the axis ofrotation of spindle 68, the respective styluses are caused to berepositioned. The styluses 80 and 102 are disposed at right angles toeach other and operate servo mechanisms 45 and 55 respectively which arealso at right angles to each other and which operate to etfecthorizontal movement of platform 32. The third stylus, namely stylus 152,although not being disposed for movement in a vertical plane isnonetheless operable to actuate vertical cylinder 118, the piston rod120 of which is movable at right angles to the movement of platform 32as effected by either of the other styluses 80 and 102. As such, sincecontrol member 106 of pantographic means 22 is pivotally secured topiston rod 120 and since such rod is movable in the horizontaldirections with platform 32, the three styluses cooperate to control theposition of control member 106 with respect to all three coordinateaxes.

The movement of such member 106 in the horizontal plane is effectedsubstantially as follows:

If the stylus 80 (FIGURE is caused by the groove 79 of record 74 to bemoved to the right (FIGURE 6), fluid pressure is caused to be applied tothe chamber 460 of hydraulic cylinder 46. That is, such movement ofstylus 80 causes the valve members 96 and 98 to assume the positionsshown in FIGURE 6. This enables the fluid under pressure to come intothe valve body 84 through inlet port 86 and to be applied to the chamber46c through flexible tubing 94. At the same time, the pressure withinchamber 46b is exhausted through flexible tubing 92 and exhaust port 88as most clearly shown in FIGURE 6.

The increase in pressure within chamber 46c and the decrease in pressurewithin chamber 46d permits the higher pressure against end wall 46a tomove the entire cylinder 46 and platform 32 thereon to the left. Suchmovement continues until the valve member 96 and 98 are returned totheir flow preventing positions in cooperation with ports or openings84a and 84b respectively as shown in FIGURE 5. The stylus 80 thusassumes a new position on record disc 74, provided further changes havenot been required because of further variations in the path of groove79.

Since control member 106 of pantographic work performing means 22 isconnected relative to platform 32, such movement of platform 32 toreturn the valve members 96 and 98 to their flow preventing positionscauses corresponding movement of member 106. As a result, thepantographic means 22 is pivoted about the pivotal mounting member 114.

However, since the motion of platform 32 is rectilinear, theplantographic means 22 not only pivots about the vertical axis affordedby member 114 but also is caused to expand or contract in accordancewith the pantographic operation. That is, simultaneous with such pivotalmovement is the contracting or expanding of the pantographic meansthereby causing the work performing member 104 to follow a rectilinearpath.

In the event the stylus 80 is moved inwardly by the groove 79 (towardthe spindle 68), the valve members 96 and 98 are moved to the left oftheir flow preventing positions shown in FIGURE 5. When this happens,fluid pressure is applied to chamber 46d from pressure inlet port 86through flexible tubing 92. At the same time, chamber 46c is exhaustedthrough flexible tubing 94 and exhaust port 90. This results in theplatform 32 being moved to the right as viewed in FIGURES S and 6 untilthe valve members 96 and 98 are again returned to their flow preventingpositions.

Such movement of platform 32 as caused by servo mechanism 45 causes thebearing members 58 and 60 to freely slide on their respective guidemembers 36.

The servo system 55 operates in the same manner as above described withrespect to system 45. However,

operation of servo system 55 causes the pantographic means 22 to beexpanded or contracted in accordance with the direction of movement ofplatform 32. Also such rectilinear movement of platform 32 may effectpivotal movement of the entire pantographic element 22 about the pivotaxis of mounting member 114, depending on the position of piston rodwith respect to the pivotal mounting means 114.

The vertical movement of work performing member 104 is accomplished inresponse to movement of the stylus 152. When this stylus is moved bygroove 78, the valve means 150 is actuated such as to apply fluidpressure to the proper side of the piston within cylinder 118. Suitableflexible conduits (not shown) are provided for this purpose. In theevent the piston moves upwardly, the piston rod 120 and hence member 106are moved upwardly. The work performing member 104, of course, is thenmoved downwardly a distance corresponding to the amount of movement ofstylus 152 as caused by the shape or contour of groove 78.

In order to return valve means 150 to its off or flow preventingposition, suitable mechanical feedback means is provided. That is, asthe piston rod 120 moves upwardly, the gear rack 124 is moved therewith.This causes the chain 132 to be driven a certain distance through thegear members 126 and 130. In like manner, the chain also moves acorresponding amount due to operation of the intermediate gear membersincluding the member 136. Such movement of chain 140 causes the gearrack 148 to move the valve body or housing of valve means 150 until thevalve members therewithin are in their flow preventing positions.

Thus the work performing member 104 of the pantographic means 22 iscaused to move in any one of the three coordinate directions asdetermined by the record disc 74. It should also be realized that anycombination of such motions also can be provided so that the workperforming member 104 is caused to follow any predetermined pathdesired.

Referring to FIGURE 8 of the drawings, a second embodiment of thepresent invention is shown therein. This embodiment comprises the samebase member 28 and platform 32 movably mounted thereon, in addition tothe other parts and components shown in FIGURE 1 and hereinbeforedescribed. The main difference between the embodiments of FIGURES 1 and8 is that in FIGURE 1 the base member 28 is stationary, While in FIGURE8 such base member is movable as will hereinafter be described. Suchmovement is desirable to enable the various work performing motions ofthe pantograph 22 to be related to a moving object.

In addition to the various parts and components hereinabove describedwith respect to the embodiment of FIGURE 1, the embodiment of FIGURE 8further comprises a stationary foundation 150.

The opposite ends of mounting rods 154 and 156 are provided with bearingmembers 158 having through openings for receiving oppositely disposedguide members 160. The latter are members secured relative to foundation150 by mounting posts 162 at each corner of the foundation. Thisarrangement enables base plate 28 to be moved from side to side on rods154 and 156, and at right angles thereto on guide members 160.

Mounted on the underside of base plate 28 is a pair of hydrauliccylinders (not shown) forming individual servo systems disposed atsubstantially right angles to each other. Such cylinders are similar tothe cylinders 46 and 54, as above described with respect to the firstembodiment, and comprise piston rods 164 and 166 shown in FIGURE 8. Thepiston rod 164 carries bearing mendbers 168 at its opposite ends whilethe rod 166 carries bearing members 170 at its opposite ends. Thebearing members 168 are formed with through openings for receiving theguide members 160, and the bearing members 170 are formed with similarthrough openings for receiving guide members 172 at the front and rearof the foundation.

Such hydraulic cylinders for moving base plate 28 are formed withhydraulic pressure chambers as above described with respect to cylinder46, so that varying the high pressure from one chamber to another causesbase member 28 to be moved accordingly.

In the embodiment sho-v n in FIGURE 8, the pantographic work performingmeans 22 is mounted immediately above a pantographic sensing element180. To accomplish this, a dual mounting device 182 having a lowerpivotal mounting member 184 and an upper pivotal mounting member 186 isprovided.

The lower mounting member 184 is formed with a cylindrical lower endportion 184a for insertion within an appropriately formed opening infoundation 150. Such cylindrical lower end portion 184a loosely fitswithin such opening so that the mounting member 184 is freely pivotalabout a vertical axis. A longitudinal slot 184b is formed in mountingmember 184 for receiving the pantographic sensing element 180 as will behereinafter described.

The upper mounting member 186 is also provided with a cylindricallyshaped lower end portion 186a. Such lower end portion rotatably fitswithin an opening in the upper end portion of mounting member 184whereby the several mounting members 184 and 186 are caused to beindependently pivotab'le about a common vertical axis. Mounting member186 is formed with a longitudinal slot 186]; which receives thepantographic work performing means 22.

As above described with respect to the first embodiment disclosedherein, work performing means 22 comprises a work performing member 104,a control member 106 and a pair of intermediate members 108 and 110. Apivot pin 116 is employed to pivotally secure the intermediate member110 to the mounting member 186 while the work performing means 22 ispositioned within the slot 186!) as shown in FIGURE 8.

In like manner the pantographic sensing element 180 is formed with asensing member 188, a control member 190 and a pair of spacedintermediate members 192 and 194. All such elements are arranged in theform of a parallelogram as shown in FIGURE 8, the various members beingconnected together by pivot pins 196. A pivot pin 198 is emloyed topivotally secure the intermediate member 194 to the mounting member 184when the sensing element 180 is positioned within the slot 184b formedtherein as shown in FIGURE 8.

As shown most clearly in FIGURES 9 and 10 of the drawings, an actuatingmember 200 is connected to control member 190 of sensing element 180.Such actuating member is associated with fluid pressure control means202 mounted on movable base plate 28.

As shown most clearly in FIGURE 10 of the drawings, control means 202comprises suitable control elements such as valves 204 and 206 forcontrolling the hydraulic actuators or cylinders which move base plate28 with respect to the foundation 150.

The valve means 204 comp-rises a valve body 208 having a fluid inletport 210 and a pair of exhaust ports 212 and 214. A valve stem 216canrying valve members 218 and 220 is mounted for movement within valvebody 208 by actuating rod 200. Ports 222 and 224 are also formed invalve body 208 for cooperation with v-alve members 218 and 220respectively and for controlling the pressure within the severalpressure chambers of the hydraulic cylinder associated with piston rod164. Such hydraulic cylinder, as above explained, is for use incontrolling the sidewise movement of base plate 28. A compression spring226 may be employed for urging valve stem 216 against actuating member200, and suitable sealing means as shown at 228 may be employed ifdesired.

The control device 206 comprises a valve body 230 'having an inlet port232 and a pair of outlet or exhaust certain predetermined limits.

ports 234 and 236. A valv stem 238 carrying valve members 240 and 242 ismovably positioned within valve body 230 as shown, Ports 244 and 246 areformed in valve body 230, and are connected with the hydraulic cylinderassociated with piston rod 166. This cylinder, of course, controls theforward and rearward movement of base plate 28. A compression spring 248may be employed to urge valve stem 238 toward actuating member 200, andsealing means as shown at 258 may be employed if desired.

To permit actuating member 200 to move in a sidewise direct-ion withoutbecoming incapable of actuating valve stem 238, a transverse member 252is secured to valve stem 238 as by welding, brazing, soldering or thelike. With this arrangement, actuating member 200 is perm-itted to movefrom side to side while still being operable to actuate the valvemembers 240 and 244 by virture of engagement of such member with thetransverse member 252.

In like manner, actuating member 200 is not secured to valve stem 216 ofvalve means 204, but rather merely abuts the same so as to be capable ofactuating valve members 218 and 220, regardless of its rearward orforward movement.

FIGURE 11 of the drawings schematically shows a hydraulic or pneumaticsupply system for actuating the embodiment shown in FIGURE 8.

The source of fluid pressure 260 is connected to the valve mechanisms82, and for controlling the various movements of work performing means22 as above described. Each such valve mechanism has an intake port anda pair of exhaust ports, all of which communicate with the source 260 toprovide a closed system.

As above described, valve mechanism 82 controls the operation ofcylinder 46 while valve mechanism 100 con trols cylinder 54 and valvemechanism 58 controls cylinder 118.

As also shown in FIGURE 11, valve means 202 is connected with the source260 of fluid pressure and with a cylinder 262 which controls thesidewise movements of base plate 28. Such cylinder is associated withpiston rod 164. Another hydraulic cylinder 264 is provided forcontrolling the forward and rearward movement of the base plate and isunder control of' valve 206 of valve means 202.

The embodiment of the present invention show-n in FIGURE 8 of thedrawings operates generally as follows:

Sens-ing member 188 of the sensing means is caused to be connected tothe object (not shown) to be followed by the subject motion device. Forinstance, if it is intended that the work performing element 22 shouldperform certain functions on an automobile in an assembly line ofautomobiles, the sensing member 188might be caused to engage or feel thebumper or wheel of such automobile. Then as such automobile progressesalong the assembly line the work performing means 22 effects the desiredwork functions with automobile as called for by the intelligence of therecord 74. In this manner, the desired work is performed on theautomobile without requiring the assembly line to be stopped. All suchfunctions are performed automatically without the need for humanintervention or assistance.

The manner in which the foregoing is accomplished is substantially asfollows:

With the sensing member 188 against the moving object, the pantographicsensing element 180 permits such member 188 to follow the objectwherever it goes within As such object moves in a sidewise directionwith respect to mounting member 184, the control member 190 of sensingmeans 180 causes actuating member 200 to be moved in a sidewisedirection. Such movement of member 200 causes the valve members 218 and220 to be actuated such as to vary the pressure in the several chambersof the hydraulic cylinder 266 so as to cause the base plate 28 to followthe movement of member 200. In this manner, the valve means 204 also iscaused to follow member 200 until the valve members 218 and 220 arereturned to their flow preventing positions.

Since platform 32 is carried by base plate 28, the movement of thelatter causes the platform and hence the control member 106 of workperforming means 22 to be moved accordingly. Therefore, the workperforming element 104 of pantographic means 22 is caused to follow theprecise path of movement of sensing element 188 as it feels the movingobject.

In the event the object moves away from foundation 150, the pantographicsensing element 180 is expanded thereby causing actuating member 200 tomove valve stem 238 inwardly thereby moving the valve members 240 and242 to flow permitting positions. This causes fluid pressure to beapplied to the chambers of hydraulic cylinder 264 such that the basemember 28 is moved rearwardly until the valve members 240 and 242 arereturned to their flow preventing positions. When this occurs, baseplate 28 has been moved a distance corresponding to the distance ofmovement of the object away from the foundation.

Again, since control element 106 of pantographic means 22 is mountedrelative to platform 32, and such platform is carried by 'base plate 28,such rearward movement of base plate 28 causes the work performingpantograph 22 to be expanded. As a result, the work performing member104 is caused to follow the movement of the object to which the member188 is attached.

It is thus seen that the work performing member 104 is always maintainedin fixed position relative to the moving object. The actual workperforming functions as called for by record 74 are then superimposed onsuch motion of the work performing element 104 with the object. That is,once having insured that member 104 will move with the object wheneverit goes, whatever additional work performing motions as called for byrecord 74 are utilized to perform work on the object.

As shown generally at 270 in FIGURES l and 8, the end of work performingmember 104 may be provided with substantially any desired type ofmechanism. For instance, the mechanism 270 may comprise one or morehydraulic cylinders for opening, closing and turning a set of jaws orfingers for gripping and retaining various objects. In the alternative,such mechanism may be a torque wrench, a power operated screwdriver,drill, a saw or any similar device for performing the desired function.The selection of particular devices is believed to be within the skillof persons skilled in the present art.

It is also contemplated within the scope of the present invention thatthe mechanisms employed on the end of work performing member 104 may becontrolled by suitable record means such as the record 74 shown on thedrawings, or by magnetic tapes and the like.

It is thus seen that the present invention provides automatic motion orwork performing means for use in performing any desired function on astationary object or on an object which is in motion.

Although I have shown and described certain specific embodiments of myinvention, I am fully aware that many modifications thereof arepossible. My invention, therefore, is not to be restricted exceptinsofar as is necessitated by the prior art and by the spirit of theappended claims.

I claim:

1. A pre-recorded motion producing device comprising in combination, arelatively stationary base, a record mounted for movement in at leastone direction relative to said base, feedback actuating meansoperatively interposed between said record and said base, control meansfor said actuating means responsive to said record to cause saidactuating means to effect corresponding movement of said record, and anelongated movable member having a work performing end portion, anactuatable end portion connected to said record, and an intermediateportion pivotally connected to said base; whereby the work performingend portion of said movable member is caused to follow the movement ofsaid record relative to said base.

2. A pre-recorded motion producing device comprising in combination, arelatively stationary base, a record having pre-recorded intelligencethereon mounted for movement in at least one rectilinear directionrelative to said base, a hydraulic servo system for moving said recordin said one direction operatively interposed between said record andsaid base, control means for said hydraulic servo system responsive tosaid intelligence on said record to effect corresponding movement ofsaid record, and work performing means having connection with said baseand said record to be actuated thereby and comprising means for causinga portion of said work performing means to follow a straight line inaccordance with the rectilinear movement of said record.

3. A pre-recorded motion producing device comprising in combination, arelatively stationary base, a record mounted for movement in at leastone direction relative to said base, feedback actuating meansoperatively interposed between said recond and said base, control meansfor said actuating means responsive to said record to cause saidactuating means to effect corresponding movement of said record, and apantographic work performing element having a work performing endportion, an actuatable end portion connected to said record and anintermediate portion pivotally mounted relative to said base, wherebysaid work performing end portion reproduces proportionally everymovement of said record by said actuating means.

4. A pre-recorded motion producing device according to claim 3 whereinsaid work performing element comprises a pair of substantially parallelopposite end members interconnected by a pair of spaced parallelintermediate members, one of which is pivotally mounted relative to saidbase.

5. A pre-recorded motion producing device comprising in combination, arelatively stationary base, a rotatable record mounted for movement inat least one rectilinear direction relative to said base and formed withat least one groove representing the desired motion, means for rotatingsaid record relative to said base, feedback actuating means operativelyinterposed between said record and said base, control means for saidactuating means responsive to said groove when said record is rotatingto effect corresponding movement of said record, and work performingmeans having connection with said base and said record to be actuatedthereby, and comprising means for causing a portion of said workperforming means to follow a straight line in accordance with therectilinear movement of said record.

6. A universal motion producing device comprising in combination, arelatively stationary base, a platform movably mounted on said base tohave motion along at least two axes at right angles to each other, aseparate feedback actuating device for each of said motions operativelyinterposed between said platform and said base, each of said actuatingdevices comprising a control element having a control movement alignedwith the respective motion axes, work performing means having connectionwith said platform to be moved in accordance therewith, and a mechanicalrecord operatively mounted on said platform having intelligence foreffecting movement of each of said control elements according to themotion desired for said work performing means, whereby said workperforming means is caused to be moved by said platform in accordancewith the pre-recorded intelligence on said record.

7. A universal motion producing device according to claim 6 wherein eachof said control elements comprises a stylus operatively associated withsaid mechanical record to be moved thereby and a control deviceassociated with said stylus to be Operated thereby so as to cause thecorresponding actuating device to effect movement of said platformcorresponding to the intelligence on said mechanical record.

8. A universal motion producing device comprising in combination, arelatively stationary base, a platform movably mounted on said base tohave motion along at least two coordinate axes, a separate servo systemfor each such motion operatively interposed between said platform andsaid base and comprising a control element having a control movementparallel to the motion afforded by the respective servo systems, workperforming means having connection with said platform to be moved inaccordance therewith, and a mechanical record having pre-recordedintelligence thereon operatively mounted on said platform and associatedwith each of said control elements, whereby each of said controlelements is afforded control movement by said pre-recorded intelligenceon said record to cause the corresponding one of said servo systems tomove accordingly said platform so as to eflfect movement of said workperforming means until the platform has been moved sufficiently toreturn each control element to its initial relative position.

9. A universal motion producing device according to claim 8 wherein eachof said servo systems is operated by fluid pressure so that movement ofany one of said control elements causes fluid pressure to effectmovement of said platform and said mechanical record thereon to therebycause said control element to render said fluid pressure incapable ofoperating said servo system.

10. A universal motion producing device according to claim 9 whereinsaid mechanical record is a rotatable disc and the pre-recordedintelligence thereon is one or more grooves formed in such record. 4

11. A universal motion producing device for performing pre-recordedmovements in predetermined relation to a moving object comprising incombination, a stationary foundation, a base plate movably mounted onsaid foundation for movement along predetermined axes at substantiallyright angles to each other, separate feedback actuating means for eachof said axes, individual control means for said actuating means mountedon said base plate and operable along the respective axes to cause therespective actuating means to correspondingly move said base platerelative to said foundation, a sensing element pivotally mounted on saidfoundation and having -a sensing portion for engagement with said movingobject and an actuating portion operatively associated with said controlmeans, whereby said base plate is caused to be moved along said axes inaccordance with the movement of said object, a platform movably mountedon said base for movement along predetermined axes at substantiallyright angles to each other, a separate feedback actuating device formoving said platform along each of said axes relative to said baseplate, a record on said platform operatively connected to said actuatingdevices to cause said platform to be moved in accordance withpredetermined recordings on said record, and a work performing elementpivotally mounted on said foundation and having a work performingportion and a portion connected to said platform, whereby said Workperforming portion is caused to be moved in accordance with both themovement of said object and the recordings on said record.

12. A universal motion producing device for performing pre-recordedmovements in predetermined relation to a moving object comprising incombination, a stationary foundation, base plate movably mounted on saidfoundation for the movement thereon along predetermined axes atsubstantially right angles to each other, separate feedback actuatingmeans for moving said base plate along each of said axes, individualcontrol means for said actuating means mounted on said base plate foroperation along the respective axes to cause the respective actuatingmeans to correspondingly move said base plate on said foundation, apantographic sensing element having a sensing member in engagement withsaid moving object, an actuating member operatively associated with saidcontrol means and a pair of substantially identical intermediatemembers, one of said intermediate members being pivotally mountedrelative to said foundation whereby said base plate is caused to bemoved along said axes in accordance with the movement of said object, aplatform movably mounted on said base plate for movement alongpredetermined axes at substantially rig-ht angles to each other, aseparate feedback actuating device for moving said platform along eachof its axes of movement on said base plate, a record on said platformoperatively connected to said actuating devices for said platform tocause said platform to be moved in accordance with predeterminedrecordings on said record, and a pantographic Work performing elementhaving a work performing member, an actuating member connected to saidplatform and a pair of substantially identical parallel intermediatemembers, one of said latter intermediate members being pivotally mountedrelative to said foundation, whereby said work performing member iscaused to be moved in accordance with the movement of said object andthe predetermined recordings on said record.

13. A universal motion producing device for performing pre-recordedmovements in predetermined relation to a moving object according toclaim 12 wherein means is provided for mounting both said pantographicsensing element and said pantographic work performing element forpivotal movement about a single vertical axis.

14. A universal motion producing device for performing pre-recordedmovements in predetermined relation to a moving object comprising incombination, a stationary foundation, a base plate movably mounted onsaid foundation for movement along predetermined axes, a separate servosystem for movement of said base plate along each of said axes,individual control means for said servo systems mounted on said baseplate, a sensing element pivotally mounted on said foundation and havinga sensing portion for engagement with a moving object and an actuatingportion operatively associated with said control means whereby said baseplate is caused to be moved along said axes in accordance with themovement of said object, a platform mounted for movement on said baseplate along predetermined axes, a separate servo system for moving saidplatform along each of the last mentioned axes, a record on saidplatform operatively connected to the servo systems for said platform tocause said platform to be moved in accordance with predeterminedrecordings on said record, and a work performing element pivotallymounted on said foundation and having a work performing portion and aportion connected to said platform, whereby said work performing portionis caused to be moved in accordance with the movement of said object andthe predetermined recordings on said record.

15. A universal motion producing device for performing pre-recordedmovements in predetermined relation to a moving object according toclaim 14 wherein the servo systems for moving said base plate and saidplatform are operated by fluid pressure.

16. A universal motion producing device comprising in combination, arelatively stationary base, a record movably mounted on said base tohave motion along at least two axes at right angles to each other, and aseparate feedback actuating device for each of said motions operativelyinterposed between said platform and said base, each of said actuatingdevices comprising a control element having a control movement alignedwith the respective motion axis, said record having intelligence foreffecting movement of each of said control elements according to themotion desired for said record, whereby said record is caused to bemoved in accordance with the pre-recorded intelligence thereon.

17. A motion producing device comprising in combination, a relativelystationary base, a platform movably mounted on said base to have motionalong at least one axis, a feedback actuating device for operation alongsaid axis operatively interposed between said platform and said base,said actuating device comprising a control element having a controlmovement aligned with said axis, work performing means having connectionwith said platform to be moved in accordance therewith, and a mechanicalrecord operatively mounted on said platform having intelligence foreffecting movement of said control element according to the motiondesired for said work performing means, whereby said work performingmeans is caused to be moved by said platform in accordance with thepre-recorded intelligence on said record.

18. A universal motion producing device comprising in combination, arelatively stationary base, a platform movably mounted on said base tohave motion along at least two axes, a separate feedback actuatingdevice for each of said motions operatively interposed between saidplatform and said base, each of said actuating devices comprising acontrol element having a control movement aligned with the respectivemotion axis, work performing means having connection with said platformto be moved in accordance therewith, and a record operatively mounted onsaid platform having intelligence for effecting movement of each of saidcontrol elements according to the motion desired for said workperforming means, whereby said work performing means is caused to bemoved by said platform in accordance with the prerecorded intelligenceon said record.

References Cited by the Examiner UNITED STATES PATENTS 1,037,460 9/1912Ettl. 1,959,512 5/1934 Wall. 2,380,357 7/ 1945 Ziebolz. 2,466,241 4/1949 Johnson. 2,679,620 5/ 1954 Berry. 2,696,804 12/1954 Kendall 9137 X2,882,475 4/1959 Neergaard 9137 X 3,024,535 3/1962 Von Rabenau.

MARVIN A. CHAMPION, Primary Examiner.

1. A PRE-RECORDED MOTION PRODUCING DEVICE COMPRISING IN COMBINATION, ARELATIVELY STATIONARY BASE, A RECORD MOUNTED FOR MOVEMENT IN AT LEASTONE DIRECTION RELATIVE TO SAID BSE, FEEDBACK ACTUATING MEANS OPERATIVELYINTERPOSED BETWEEN SAID RECORD AND SAID BASE, CONTROL MEANS FOR SAIDACTUATING MEANS RESPONSIVE TO SAID RECORD TO CAUSE SAID ACTUATING MEANSTO EFFECT CORRESPONDING MOVEMENT OF SAID RECORD, AND AN ELONGATEDMOVABLE MEMBER HAVING A WORK PERFORMING END PORTION, AN ACTUATABLE ENDPORTION CONNECTED TO SAID RECORD, AND AN INTERMEDIATE PORTION PIVOTALLYCONNECTED TO SAID BASE; WHEREBY THE WORK PERFORMING END PORTION OF SAIDMOVABLE MEMBER IS CAUSED TO FOLLOW THE MOVEMENT OF SAID RECORD RELATIVETO SAID BASE.